ELECTRODE STACKING APPARATUS
An electrode stacking apparatus provided with a planar motor device (B) comprised of a flat plate-shaped stator (50) and a plurality of movers (40) able to move on a flat surface (51) of the stator in any direction along the flat surface (51) and able to rotate about a perpendicular axis of the flat surface (51) in a state magnetically floating from the flat surface (51). When stacking a new sheet-shaped electrode (1) held by an electrode conveyor device (A) arranged above the planar motor device (B) on a stacked electrode holder (60) of a mover (40), the mover (40) is made to move in synchronization with movement of the new sheet-shaped electrode (1) so that the new sheet-shaped electrode (1) continues to face the sheet-shaped electrode stacking position on the stacked electrode holder (60).
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The present invention relates to an electrode stacking apparatus.
BACKGROUNDKnown in the art is an electrode stacking apparatus in which a sheet-shaped electrode conveyor device comprised of a linear motor having a plurality of movers running on an elliptically shaped running rail and a stacking jig conveyor device comprised of a linear motor having a plurality of movers running on an elliptically shaped running rail are used and in which the elliptically shaped running rail of the sheet-shaped electrode conveyor device is arranged in a vertical plane and the elliptically shaped running rail of the stacking jig conveyor device is arranged inside a horizontal plane so that the straight parts of the elliptically shaped running rail of the stacking jig conveyor device extend in the same direction below the straight parts of the sheet-shaped electrode conveyor device (for example, see Japanese Unexamined Patent Publication No. 2020-024816).
In this electrode stacking apparatus, at the straight rail parts, the stacking jig supported by the mover of the stacking jig conveyor device is made to move in synchronization with the movement of the sheet-shaped electrode held by the mover of the sheet-shaped electrode conveyor device. While the sheet-shaped electrode and the stacking jig are made to move in synchronization, the sheet-shaped electrode held by the mover of the sheet-shaped electrode conveyor device is stacked inside the stacking jig.
SUMMARYIn this regard, however, in a conveyor device comprised of such linear motors, the holding position of the sheet-shaped electrode held by the mover of the sheet electrode conveyor device cannot be adjusted. As a result, if the holding position of the sheet-shaped electrode held by the mover of the sheet electrode conveyor device deviate from position aligned with and stackable on the sheet-shaped electrode already stacked inside the stacking jig, there is the problem that it is not possible align and stack the sheet-shaped electrode held by the mover of the sheet electrode conveyor device on the sheet-shaped electrode already stacked inside the stacking jig. Such a problem is difficult to solve so long as using a pair of conveyor devices comprised of the above such linear motors. A change in thinking is required to solve such a problem.
To solve the above problem, according to the present invention, there is provided an electrode stacking apparatus for stacking a sheet-shaped electrode, comprising:
a planar motor device comprised of a flat plate shaped stator and a plurality of movers able to move on a flat surface of the stator in any direction along the flat surface and able to rotate about a perpendicular axis of the flat surface in a state magnetically floating from the flat surface,
an electrode conveyor device arranged above the planar motor device and conveying the sheet-shaped electrode along a conveyance path while holding the sheet-shaped electrode, and
a control device for controlling the planar motor device and the electrode conveyor device, wherein
a stacked electrode holder for holding stacked sheet-shaped electrodes being attached on each mover of the planar motor device and a successively stacked sheet-shaped electrode being held at a sheet-shaped electrode stacking position on the stacked electrode holder by the stacked electrode holder,
when stacking a new sheet-shaped electrode held by the electrode conveyor device on the stacked electrode holder of the mover, the control device making the mover move in synchronization with movement of the new sheet-shaped electrode so that the new sheet-shaped electrode continues to face the sheet-shaped electrode stacking position on the stacked electrode holder.
According to the present invention, when the holding position of the sheet-shaped electrode held by the mover of the sheet-shaped electrode conveyor device deviates from a position aligned with and stackable on the already stacked sheet-shaped electrode, by adjusting the position of the already stacked sheet-shaped electrode rather than adjusting the holding position of the sheet-shaped electrode held by the mover of the sheet-shaped electrode conveyor device, it becomes possible to make the sheet-shaped electrode held by the mover of the sheet-shaped electrode conveyor device be aligned with and stacked on the already stacked sheet-shaped electrode. In this case, the adjustment of the position of the already stacked sheet-shaped electrode becomes possible by using the planar motor device provided with a plurality of the movers able to move in any direction along the flat surface of the stator and able to rotate about a perpendicular axis of the flat surface in a state magnetically floating from the flat surface.
The present invention is an electrode stacking apparatus for stacking a sheet-shaped electrode. In an embodiment of the present invention, an electrode stack is formed by the sheet-shaped electrodes stacked by this electrode stacking apparatus. A plurality of the thus formed electrode stacks are electrically connected serially or in parallel to thereby, for example, form a battery for mounting in a vehicle. Therefore, first, a sheet-shaped electrode to be stacked in this electrode stacking apparatus will be explained.
In the embodiment of the present invention, as the sheet-shaped electrode 1, it is possible to use a sheet-shaped electrode 1 for an all-solid-state lithium-ion secondary battery and possible to use a sheet-shaped electrode 1 for a lithium-ion secondary battery using an electrolyte solution or gel polymer electrolyte. If as the sheet electrode 1 a sheet electrode 1 for an all-solid-state lithium-ion secondary battery is used, the sheet electrode 1, as shown in
On the other hand, the negative electrode active substance layer 5 is formed from a negative electrode active substance able to release lithium ions, sodium ions, calcium ions, and other metal ions at the time of discharge and store them at the time of charging. Further, the negative electrode current collector layer 6 is formed from a conductive material. In the embodiment of the present invention, this negative electrode current collector layer 2 is formed from a current collector-use metal foil, for example, copper foil. On the other hand, in the example shown in
On the other hand, if as the sheet electrode 1 a sheet electrode 1 for a lithium ion secondary battery using an electrolyte solution or gel polymer electrolyte is used, in
Referring to
On the other hand, this mover 12 is provided with a pair of permanent magnets 17 and 18. Sandwiched between these permanent magnets 17 and 18 inside the electrode conveyor device A, a stator 11 around which a coil is wound is arranged. Due to this stator 11 and the permanent magnets 17 and 18, that is, due to the stator 11 and the mover 12, a linear motor is formed. Therefore, in the electrode conveyor device A, the mover 12 of the linear motor is made to run on the rail 10 in the conveyance direction shown in
Referring to
The clamp 21 of
On the running path of the mover 12, a fixed cam (not shown) able to engage with the roller 26 of the clamp arm 23 is provided. The roller 26 of the clamp arm 23 is usually not engaged with this fixed cam. At this time, the clamps 21 and 22 are positioned at the sheet-shaped electrode holding positions such as shown by the clamp 21 of
In the embodiment of the present invention, the sheet-shaped electrode 1 is prepared by cutting a long strip shaped electrode manufactured in advance in a prior process and having a cross-sectional structure shown in
That is, the mover 12 descends along the semicircular part 10b of the rail 10 of the electrode conveyor device A in the state where the clamps 21 and 22 are rendered the release positions such as shown by the clamp 22 of
Next, an outline of the planar motor device B shown in
On the other hand,
Current is supplied to the coils 54A, 54B, and 54C of the coil groups, and the amounts of current supplied to the coils 54A, 54B, and 54C are controlled by the control device C. If current is supplied to the coils 54A, 54B, and 54C, a magnetic field is generated. Due to the interaction of this magnetic field and the magnetic fields of the permanent magnet pieces 41 of the mover 40, a force acting on the mover 40 is generated. In this case, in the example shown from
In this case, by controlling the amounts of current supplied to the coils 54A, 54B, and 54C inside the coil layers 53A, 53B, 53C, and 53D to adjust the forces acting on the magnet regions 42A, 42B, 42C, and 42D of the mover 40, the mover 40 can be made to move on the flat surface 51 of the stator 50 in any direction along the flat surface 51 in a state magnetically floating from the flat surface 51, the mover 40 can be made to rotate on the flat surface 51 of the stator 50 about a perpendicular axis of the flat surface 51 in a state magnetically floating from the flat surface 51, and the mover 40 can be held on the flat surface 51 of the stator 50 at any position on the flat surface 51 targeted in a state magnetically floating from the flat surface 51.
On the other hand, in the example shown from
Now then, in the planar motor device B, the mover 40 can be held on the flat surface 51 of the stator 50 at any target planar position by any target angular position. In this case, the amounts of current which should be supplied to the coils 54A, 54B, and 54C in the coil layers 53A, 53B, 53C, and 53D so as to hold the mover 40 at the target planar position by the target angular position are known in advance. Therefore, if the target angular position and the target planar position of the mover 40 on the flat surface 51 of the stator 50 are determined, if controlling the amounts of current to be supplied to the coils 54A, 54B, and 54C inside the coil layers 53A, 53B, 53C, and 53D to the amounts of current necessary for holding the mover 40 at the target planar position by the target angular position, it becomes possible to hold the mover 40 at the target planar position by the target angular position.
In the embodiment of the present invention, this is utilized to control movement and rotation of the mover 40. Next, the control of movement and rotation of the mover 40 will be explained while referring to
On the mover 40 of the planar motor device B, a stacked electrode holder 60 for holding a stacked sheet electrode 1 is carried. Therefore, next, this stacked electrode holder 60 will be explained while referring to
On the other hand, the clamp mechanism 65 and the clamp mechanism 67 have symmetric shapes about the short axis of the bottom plate 63. Therefore, below, while referring to
Referring to
On the other hand, as shown in
Next, referring to
In this first embodiment, new sheet-shaped electrodes 1 held by the electrode conveyor device A are stacked on pairs of the stacked electrode holders 60 fixed on pairs of the movers 40 moving in a parallel arranged state in the conveyance direction right under the electrode conveyor device A (in
Now then, in this embodiment of the present invention, the running path of the mover 40 used as the reference on the flat surface 51 of the stator 50 is set in advance by x-y coordinates. The running path of the mover 40 used as the reference set in advance will be called a “reference running path”. In this embodiment of the invention, this reference running path is set with respect to the center of the mover 40. Each mover 40 is controlled by the control device C so that the center of the mover 40 moves along this reference running path. In
Referring to
At the region below the electrode conveyor device A where the stacking work is performed, a plurality of paired movers 40 are made to move in the y-axis direction separated by equal distances, and the work of stacking new sheet-shaped electrodes 1 on the stacked electrode holders 60 is successively performed. The paired movers 40 carrying the stacked electrode holders 60 on which the stacking work of the new sheet-shaped electrodes 1 has been completed are made to move at a high speed along the stacking reference running paths K1 and K2 until arriving behind the paired movers 40 running in front so as to perform the stacking work of the next new sheet-shaped electrodes 1. When the paired movers 40 reach behind the paired movers running in front, after that, the paired movers 40 are made to move while following the paired movers 40 running in front.
If the stacking work of a preset number of new sheet-shaped electrodes 1 is completed, the paired movers 40 carrying the stacked electrode holders 60 holding the preset number of stacked sheet-shaped electrodes 1 are ejected from the electrode conveyor device A along the corresponding ejection reference running paths K3 and K4 from the region below the electrode conveyor device A where the stacking work is performed. In case where the sheet-shaped electrodes 1 for an all-solid-state lithium-ion secondary battery are used as the sheet-shaped electrodes 1, if the stacked sheet-shaped electrodes 1 are ejected from the electrode conveyor device A, at the next process, the stacked sheet-shaped electrodes 1 held by the stacked electrode holders 60 are pressed by a press device and single side surfaces of the pressed stacked sheet-shaped electrodes 1 are bonded by a resin. Next, after other processes, stacks of the sheet-shaped electrodes 1 are prepared. If the stacks of the sheet-shaped electrodes 1 are prepared, the stacks of the sheet-shaped electrodes 1 are taken out from the stacked electrode holders 60 and the paired movers 40 carrying the emptied stacked electrode holders 60 are made to move to a standby region Q.
On the other hand, in case where the sheet-shaped electrodes 1 for a lithium-ion secondary battery using an electrolyte solution or gel polymer are used as the sheet-shaped electrodes 1, if the stacked sheet-shaped electrodes 1 are ejected from the electrode conveyor device A, at the next process, single side surfaces of the pressed stacked sheet-shaped electrodes 1 are bonded by a resin, then the electrolyte solution or gel polymer electrolyte is injected into the positive electrode active substance layers 3, separators 4 and electrode active substance layers 5 from the peripheral parts of the stacked sheet-shaped electrodes 1 not bonded by the resin. Next, after other processes, stacks of the sheet-shaped electrodes 1 are prepared. If the stacks of the sheet-shaped electrodes 1 are prepared, the stacks of the sheet-shaped electrodes 1 are taken out from the stacked electrode holders 60 and the paired movers 40 carrying the emptied stacked electrode holders 60 are made to move to a standby region Q.
On the other hand, if the stacked sheet-shaped electrodes 1 are ejected from the electrode conveyor device A, the paired movers 40 carrying the empty stacked electrode holders 60 standing by at the standby region Q are made to move at a high speed to behind the front paired movers 40 running along the stacking reference running paths K1 and K2. Next, if the paired movers 40 carrying the emptied stacked electrode holders 60 reach behind the paired movers 40 running in front, after that the paired movers 40 carrying the emptied stacked electrode holders 60 are made to move following the paired movers 40 running in front.
In this way, in the first embodiment, the movers 40 are made to move along the preset stacking reference running paths K1 and K2 and ejection reference running paths K3 and K4. In this case, in this embodiment of the present invention, the x-y coordinates for each time period on the stacking reference running paths K1 and K2 and ejection reference running paths K3 and K4 corresponding to the requests for movement of the movers 40 are set as the target planar positions of the movers 40 while the rotational angle positions of the movers 40 with respect to the x-axis of the x-y coordinates are set as the target rotational angle positions. In this case, the amounts of current supplied to the coils 54A, 54B, and 54C inside the coil layers 53A, 53B, and 53C 53D are controlled by the control device C every constant time period so that the movers 40 are held at the target planar positions by the target rotational angle positions.
Next, referring to
When the stacking work is performed, paired movers 40 are made to move in synchronization with the movement of the new sheet-shaped electrode 1 so that the new sheet-shaped electrode 1 held by the electrode conveyor device A continues to face the sheet-shaped electrode stacking positions on the stacked electrode holders 60.
Next, as shown in
In this way, in this embodiment of the present invention, it will be understood that during stacking work of the sheet-shaped electrodes 1, the new sheet-shaped electrode 1 is held by at least one clamp among the clamps 21 and 22 attached to the conveyor plate 20 or the clamps 64 and 66 of the stacked electrode holder 60 until it is stacked on the stacked electrode holder 60.
In this regard, if the new sheet-shaped electrode 1 is not held on the conveyor plate 20 by the clamps 21 and 22 at the regular holding position, when stacking the new sheet-shaped electrode 1 on the stacked sheet-shaped electrodes 1 held by the stacked electrode holder 60, the stacking position of the new sheet-shaped electrode 1 will deviate from the stacking position of the stacked sheet-shaped electrodes 1 and the new sheet-shaped electrode 1 will no longer be able to be stacked aligned on the stacked sheet-shaped electrodes 1. Therefore, in this embodiment of the present invention, when stacking the new sheet-shaped electrode 1 on stacked sheet-shaped electrodes 1 held by the stacked electrode holder 60, if the stacking position of the new sheet-shaped electrode 1 deviates from the stacking position of the stacked sheet-shaped electrodes 1, the movement position and rotational angle position of the mover 40 of the planar motor device B are controlled so as to enable the new sheet-shaped electrode 1 to be stacked aligned on the stacked sheet-shaped electrodes 1.
Next, the control of the movement position and rotational angle position of the mover 40 of the planar motor device B will be explained while referring to
On the other hand, in
Now then,
The method of calculation of the changed coordinates (xd, yd) of the set position Od of the one mover 40 in this case and the method of calculation of the changed coordinates (xe, ye) of the set position Oe of the other mover 40 in this case are shown in
In the first embodiment shown in
Referring to
Next, at step 102, it is judged if the stacking processing for stacking the new sheet-shaped electrode 1 on the stacked electrode holders 60 of the movers 40 being controlled has been completed. When it is judged that the stacking processing for stacking the new sheet-shaped electrode 1 on the stacked electrode holders 60 of the movers 40 being controlled has not been completed, the routine proceeds to step 103 where return processing is performed for returning the movers 40 being controlled along the stacking reference running paths K1 and K2 to the stacking start positions. On the other hand, when at step 102 it is judged that the stacking processing for stacking the new sheet-shaped electrode 1 on the stacked electrode holders 60 of the movers 40 being controlled has been completed, the routine proceeds to step 104 where the ejection processing is performed for making the movers 40 being controlled advance along the ejection reference running paths K3 and K4 to the next process.
On the other hand, when at step 100 it is judged that the stacking processing for stacking the new sheet-shaped electrode 1 on the stacked electrode holders 60 of the movers 40 being controlled is not underway, the routine proceeds to step 105 where it is judged if the movers 40 being controlled are in the middle of a following operation following a pair of the movers 40 moving in front on the stacking reference running paths K1 and K2. When it is judged that the movers 40 being controlled are in the middle of following a pair of the movers 40 moving in front, the routine proceeds to step 106 where it is judged if the movers 40 being controlled reaches the stacking start positions. When it is judged that the movers 40 being controlled reaches the stacking start positions, the routine proceeds to step 107 where the stacking processing for stacking the new sheet-shaped electrode 1 on the stacked electrode holders 60 on the movers 40 being controlled is started.
On the other hand, when at step 105 it is judged that the movers 40 being controlled are not following a pair of the overs 40 moving in the front, the routine proceeds to step 108 where the movers 40 being controlled are made to move at a high speed toward the pair of the movers 40 moving in front until approaching the rear of the pair of movers 40 moving in front. This high speed running of the movers 40 is performed when the return processing is started at step 103 and when a pair of the movers 40 carrying emptied stacked electrode holders 60 are sent inside the stacking reference running paths K1 and K2. Next, at step 109, it is judged if the movers 40 being controlled reaches following positions of constant distances to a pair of the movers 40 moving in front on the stacking reference running paths K1 and K2. When it is judged that the movers 40 being controlled reaches the following positions, the routine proceeds to step 110 where the following processing is performed for making the movers 40 being controlled move to follow a pair of the movers 40 moving in front.
Referring to
Next, at step 123, it is judged based on the results of the image processing if the new sheet-shaped electrode 1 on the conveyor plate 20 deviates from the regular holding position R. When it is judged that the new sheet-shaped electrode 1 on the conveyor plate 20 deviates from the regular holding position R, the routine proceeds to step 124 where amounts of deviation Δx, Δy, and α such as shown in
Referring to
At step 142, the correction values Δx, Δy, and a stored in the control device C are read. Next, at step 143, as shown in
Next, at step 145, the routine waits until the preset constant time elapses. If the constant time elapses, the routine proceeds to step 146 where it is judged of the stacking work of one new sheet-shaped electrode 1 has ended. When it is judged that the stacking work of one new sheet-shaped electrode 1 has not ended, the routine returns to step 140 where control of movement of the movers 40 is continued. On the other hand, when at step 146 it is judged that the stacking work of one new sheet-shaped electrode 1 has ended, the routine proceeds to step 147 where the stacking work of the new sheet-shaped electrode 1 is ended. Next, the routine proceeds to step 102 of the mover control routine shown in
In this way, in the first embodiment according to the present invention, the electrode stacking apparatus for stacking the sheet-shaped electrode 1 comprises the planar motor device B comprised of the flat plate shaped stator 50 and a plurality of the movers 40 able to move on the flat surface 51 of the stator 50 in any direction along the flat surface 51 and able to rotate about a perpendicular axis of the flat surface 51 in a state magnetically floating from the flat surface 51, the electrode conveyor device A arranged above the planar motor device B and conveying the sheet-shaped electrode 1 along the conveyance path while holding the sheet-shaped electrode 1, and the control device C for controlling the planar motor device B and electrode conveyor device A. The stacked electrode holder 60 for holding stacked sheet-shaped electrodes 1 is attached on each mover 40 of the planar motor device B and successively stacked sheet-shaped electrodes 1 are held at a sheet electrode stacking position on the stacked electrode holder 60 by the stacked electrode holder 60. When stacking the new sheet-shaped electrode 1 held by the electrode conveyor device A on the stacked electrode holder 60 of the mover 40, the control device C makes the mover 40 move in synchronization with movement of the new sheet-shaped electrode 1 so that the new sheet-shaped electrode 1 continues to face the sheet-shaped electrode stacking position on the stacked electrode holder 60.
In this case, in the embodiment of the present invention, as the holding position of the new sheet-shaped electrode 1 by the electrode conveyor device A, a regular holding position R required for making the new sheet-shaped electrode 1 align with the sheet-shaped electrode stacking position on the stacked electrode holder 60 is set in advance, a deviation detection device is provided for detecting an amounts of deviation of the holding position of the new sheet-shaped electrode 1 from the regular holding position R, and the control device controls the movement position and rotational angle position of each mover 60 based on the amounts of deviation so that the new sheet-shaped electrode 1 is stacked on the stacked electrode holder 60 aligned with the sheet-shaped electrode stacking position of the stacked electrode holder 60. In this case, in the embodiment of the present invention, the above-mentioned deviation detection device is provided with a camera 33 for capturing the new sheet-shaped electrode 1 held by the electrode conveyor device A, and the amounts of deviation are detected based on images captured by the camera 33.
On the other hand, in the embodiment of the present invention, the electrode conveyor device A is comprised of a linear motor having a plurality of movers 12 made to move along the conveyance path, and a new sheet-shaped electrode 1 is held by the clamps 21 and 22 on conveyor plates 20 attached to the movers 12 of the linear motor. In this case, in the embodiment of the present invention, the stacked electrode holders 60 of the movers 40 of the planar motor device B are provided with clamps 64 and 66, and when the movers 40 of the planar motor device B are made to move in synchronization with movement of the new sheet-shaped electrodes 1, the new sheet-shaped electrode 1 held on the conveyor plates 20 is stacked on the stacked electrode holders 60 while being held at the peripheral part of the new sheet shaped electrode 1 by either the clamps of the clamps 21 and 22 of the conveyor plate and the clamps 66 of the stacked electrode holders.
Furthermore, in the embodiment of the present invention, the sheet-shaped electrode 1 is held by a plurality of the movers 40 of the planar motor device B. Further, in the embodiment of the present invention, when the movers 40 of the planar motor device B holding the sheet-shaped electrodes 1 are made to run along curved running paths, the control device controls the movement positions and rotational positions of the movers 40 so that the movers 40 of the planar motor device B do not rotate.
Next, referring to
Referring to
The first electrode conveyor device A1 and the second electrode conveyor device A2 have overall shapes the same as the electrode conveyor device A of
As shown in
In
On the other hand, the conveyor plate 20 attached on the mover 12 of the second electrode conveyor device A2 is also comprised of the lower plate 20a and the upper plate 20b as shown in
On the other hand, in this second embodiment as well, the planar motor device B has a plurality of the movers 40 able to move on the flat surface 51 of the stator 50 in any direction along the flat surface 51 and able to rotate about a perpendicular axis of the flat surface 51 in a state magnetically floating from the flat surface 51.
In this second embodiment as well, the sheet-shaped electrode 1 is prepared by cutting a long strip shaped electrode sheet 30 having a cross-sectional structure shown in
That is, the movers 12 of the conveyor device A1 and the movers 12 of the second electrode conveyor device A2 descend over the semicircular parts 10b of the rails 10 of the first electrode conveyor device A1 and the second electrode conveyor device A2 in the state with the clamps 19 rendered the release positions such as shown in
Next, the both side parts of the electrode sheet 30 somewhat to the rear from the front end part of the electrode sheet 30 in the advancing direction are held by the clamps 19 which follow behind. In this way, the both side parts of the electrode sheet 30 are held by pluralities of clamps 19 moving in the advancing direction separated by equal distances. In the example shown in
On the other hand, in this second embodiment, below the first electrode conveyor device A1, the same number of the first movers 40 as the movers 12 used for holding the prepared sheet-shaped electrode 1 are arranged aligned in the conveyance direction, while below the second electrode conveyor device A2, the same number of the second movers 40 as the movers 12 used for holding the prepared sheet-shaped electrode 1 are arranged aligned in the conveyance direction. On these first movers 40 and second movers 40, the stacked electrode holders 60 shown in
Next, referring to
Now then, in this second embodiment as well, the reference running paths of the first movers 40 and the second movers 40 made the reference on the flat surface 51 of the stator 50 are set in advance by x-y coordinates. In this case, in the second embodiment as well, the reference running paths are set with respect to the centers of the first movers 40 and the second movers 40. The movers 40 are controlled by the control device C so that the centers of the movers 40 move along the reference running paths. In
Referring to
In this second embodiment, the stacking work of sheet-shaped electrodes 1 is, as explained later, performed by making the first movers 40 carrying the stacked electrode holders 60 move back and forth below the first electrode conveyor device A1 in an aligned state along the inside stacking reference running path K5 and by making the second movers 40 carrying the stacked electrode holders 60 move back and forth below the second electrode conveyor device A2 in an aligned state along the inside stacking reference running path K6. If the stacking work of a preset number of new sheet-shaped electrodes 1 is completed, the first movers 40 and the second movers 40 carrying the stacked electrode holders 60 holding the preset number of stacked sheet-shaped electrodes 1 are ejected from the region below the first electrode conveyor device A1 and the second electrode conveyor device A2 along the respective inside stacking reference running paths K5 and K6 and the next process is proceeded to. At the next process, for example, single side surface parts of the pressed stacked sheet-shaped electrodes 1 are bonded by a resin, then an electrolyte solution or gel polymer electrolyte is injected from the peripheral parts of the stacked sheet-shaped electrodes 1 not bonded by the resin into the positive electrode active substance layer 3, separator 4, and electrode active substance layer 5. Next, after other processes, the stack of the sheet-shaped electrodes 1 is prepared.
If the stack of the sheet-shaped electrodes 1 is prepared, the stack of the sheet-shaped electrodes 1 is taken out from the stacked electrode holders 60. The movers 40 carrying the emptied stacked electrode holders 60 are made to move to the standby region Q along the outside stacking reference running paths K5 and K6. On the other hand, if the stacking work of the preset number of the new sheet-shaped electrodes 1 is completed and the movers 40 carrying the stacked electrode holders 60 holding the preset number of stacked sheet-shaped electrodes 1 are ejected from the region below the first electrode conveyor device A1 and the second electrode conveyor device A2, as shown in
On the other hand, in this second embodiment, as shown in
Next, referring to
If referred to in this way, as denoted in
Further, the arrow marks “f” in
In this way, it is possible to prevent the sheet-shaped electrode 1 from sagging down by making the clamping force of the second mover 40 positioned at the front end part in the conveyance direction the maximum among the second movers 40, by making the clamping force of the remaining second movers 40 lower than the maximum clamping force, by making the clamping force of the first movers 40 further lower, and by controlling the movement positions of the first movers 40 and the second movers 40 to positions necessary for keeping the sheet-shaped electrode 1 from sagging down.
Next, referring to
In this second embodiment as well, x-y coordinates of every constant time on the stacking reference running paths K5 and K6, stacking auxiliary reference running path K7, and cam reference running paths K8 and K9 corresponding to movement requests of the movers 40 are set as the target planar positions of the movers 40, while rotational angle positions of the movers 40 with respect to the x-axis of the x-y coordinates are set as target rotational angle positions. In this case, in this second embodiment as well, the amounts of current supplied to the coils 54A, 54B, and 54C in the coil layers 53A, 53B, 53C, and 53D of the stator 50 are controlled by the control device C so that every constant time interval, the movers 40 are held at the target planar positions at the target rotational angle positions.
Next, as shown in
In this case, the transfer of the sheet-shaped electrode 1 from the conveyor plates 20 to the corresponding stacked electrode holders 60 is performed in the following way. That is, first, the holding actions of the sheet-shaped electrode 1 by the clamps 19 of the conveyor plates 20 are released by the moving cam devices 91 and the clamps 64 of the stacked electrode holders 60 carried by the movers 40 aligned with the conveyor plates 20 in the perpendicular direction are made to move by the moving cam devices 91 to the release positions. At this time, the part of the sheet-shaped electrode 1 which had been held by the clamps 19 drops onto the stacked electrode holders 60 carried by the movers 40. If the part of the sheet-shaped electrode 1 held by the clamps 19 drops onto the stacked electrode holders 60 carried by the movers 40, the clamps 64 of the stacked electrode holders 60 are turned on the dropped sheet-shaped electrode 1 and the dropped sheet-shaped electrode 1 is held by the clamps 64 on the stacked electrode holders 60.
Such work of transfer of the sheet-shaped electrode 1 is performed in order each time the moving cam devices 91 reach the movers A1 and B1, movers A2 and B2, movers A3 and B3, movers A4 and B4, and movers A5 and B5. That is, first, transfer work of the sheet-shaped electrode 1 from the conveyor plates 20 aligned with the movers A1 and B1 to the stacked electrode holders 60 of the movers A1 and B1 is performed, next, transfer work of the sheet-shaped electrode 1 from the conveyor plates 20 aligned with the movers A2 and B2 to the stacked electrode holders 60 of the movers A2 and B2 is performed, next, transfer work of the sheet-shaped electrode 1 from the conveyor plates 20 aligned with the movers A3 and B3 to the stacked electrode holders 60 of the movers A3 and B3 is performed, next, transfer work of the sheet-shaped electrode 1 from the conveyor plates 20 aligned with the movers A4 and B4 to the stacked electrode holders 60 of the movers A4 and B4 is performed, and, next, transfer work of the sheet-shaped electrode 1 from the conveyor plates 20 aligned with the movers A5 and B5 to the stacked electrode holders 60 of the movers A5 and B5 is performed. While such transfer work of the sheet-shaped electrode 1 is being performed as well, the electrode sheet 30 continues to be supplied in the conveyance direction and is held by the clamps 19 of the successively moving conveyor plates 20 on the conveyor plates 20 separated by equal distances.
In this way, in the second embodiment, the movers A1 and B1, movers A2 and B2, movers A3 and B3, movers A4 and B4, and movers A5 and B5 are made to move back and forth to perform the stacking work of the sheet-shaped electrodes 1. In this case, if using the moving cam devices 91 as the cams for engaging with the rollers 76 and 83 of the stacked electrode holders 60 and the rollers 26 of the clamps attached to the conveyor plates 20, compared with when using fixed cams, the distances over which the movers A1 and B1, movers A2 and B2, movers A3 and B3, movers A4 and B4, and movers A5 and B5 have to return become shorter and therefore the time required for the stacking work of the sheet-shaped electrodes 1 can be made shorter. Further, in this second embodiment as well, the movers A1 and B1, movers A2 and B2, movers A3 and B3, movers A4 and B4, and movers A5 and B5 are adjusted in position based on images captured by the camera 33.
Referring to
Next, at step 202, the other movers 40 carrying empty stacked electrode holders 60 are made to move to the standby positions. Next, at step 203, stacking processing is performed for stacking a new sheet-shaped electrode 1 held on the conveyor plates 20 on the stacked electrode holders 60 carried on the movers A1 and B1, movers A2 and B2, movers A3 and B3, movers A4 and B4, and movers A5 and B5. On the other hand, when at step 200 it is judged that it is not the time for start of the stacking processing of the sheet electrode 1, the routine jumps to step 203 where the stacking processing of the sheet electrode 1 is performed. This stacking processing is performed by the stacking processing routine shown in
Next, at step 204, it is judged if the stacking processing of the sheet electrode 1 has been completed. When it is judged that the stacking processing of the sheet electrode 1 has been completed, the routine proceeds to step 205 where ejection processing is performed for making the movers A1 and B1, movers A2 and B2, movers A3 and B3, movers A4 and B4, and movers A5 and B5 advance to the next process. Next, at step 204, the next stacking processing of a new sheet-shaped electrode 1 is started.
On the other hand, in the second embodiment as well, the position deviation detection routine shown in
Referring to
Next, at step 222, it is judged if the correction request has been made in the position deviation detection routine shown in
Next, at step 226, the values of the x-y coordinates of the changed set positions of the mover A1, mover A2, mover A3, mover A4, mover A5, mover B1, mover B2, mover B3, mover B4, and mover B5 for holding an electrode are calculated based on the correction values Δx, Δy, and a and the adjusted amounts of movement in the x-axis and y-axis directions. At this time, for example, by adding the adjusted amount of movement in the x-axis direction to the correction value Δx, the value of the x-coordinate of the changed set position is calculated, while by adding the adjusted amount of movement in the y-axis direction to the correction value Δy, the value of the y-coordinate of the changed set position is calculated. Next, at step 227, the values of the x-y coordinates of the next reference positions on the cam-use reference running paths K8 and K9 for the pair of the cam movers 40 and the values of the x-y coordinates of the next reference positions on the auxiliary stacking-use reference running path K7 for the support movers 40 are calculated.
Next, at step 228, control of movement of the movers 40 is performed. At this time, for the mover A1, mover A2, mover A3, mover A4, mover A5, mover B1, mover B2, mover B3, mover B4, and mover B5 for holding an electrode, the amounts of current supplied to the coils 54A, 54B, and 54C in the coil layers 53A, 53B, 53C, and 53D of the stator 50 are controlled by the control device C so that the movement positions of the movers 40 respectively become the changed set positions, while for the cam movers 40 and support movers 40, the amounts of current supplied to the coils 54A, 54B, and 54C in the coil layers 53A, 53B, 53C, and 53D of the stator 50 are controlled by the control device C so that the movement positions of the movers 40 respectively become the set reference positions. Note that, in this case, it is possible to change the set positions of the cam movers 40 from the reference positions based on the above-mentioned correction values Δx, Δy, and a and the adjusted amounts of movement in the x-axis and y-axis directions and make the cam movers 40 move along the changed set positions.
Next, at step 229, the routine waits until a preset constant time has elapsed. If the constant time has elapsed, the routine proceeds to step 230 where it is judged if the stacking work of one new sheet-shaped electrode 1 has ended. When it is judged that the stacking work of one new sheet-shaped electrode 1 has not ended, the routine returns to step 220 where control of movement of the movers 40 is continued. Next, when at step 230 it is judged that the stacking work of one new sheet-shaped electrode 1 has ended, the routine proceeds to step 231 where it is judged if the stacking work of the set total number of new sheet-shaped electrodes 1 has ended. When it is judged that the stacking work of the set total number of new sheet-shaped electrodes 1 has not ended, the routine proceeds to step 232 where the return processing is started. On the other hand, when it is judged that the stacking work of the set total number of new sheet-shaped electrodes 1 has ended, at step 233, the stacking work of the sheet-shaped electrodes 1 is completed.
If the return processing is performed, the routine proceeds from step 220 to step 234 where the values of the x-y coordinates of the next set positions of the mover A1, mover A2, mover A3, mover A4, mover A5, mover B1, mover B2, mover B3, mover B4, and mover B5 for holding an electrode, the cam movers 40, and the support movers 40 at the time of the return processing are calculated. Next, at step 235, the amounts of current supplied to the coils 54A, 54B, and 54C in the coil layers 53A, 53B, 53C, and 53D of the stator 50 are controlled by the control device C so that the movement positions of the movers 40 respectively become the set positions.
Next, at step 236, the routine waits until a preset constant time elapses. If the constant time elapses, the routine proceeds to step 237 where it is judged if all of the mover A1, mover A2, mover A3, mover A4, mover A5, mover B1, mover B2, mover B3, mover B4, and mover B5 for holding an electrode have returned to the stacking start positions. When it is judged that not all of the movers for holding an electrode have returned to the stacking start positions, the routine returns to step 234. As opposed to this, when it is judged that all of the movers for holding an electrode have returned to the stacking start positions, the routine proceeds to step 238 where movement of all of the movers for holding an electrode is stopped. Next, at step 239, the return processing is ended. If the return processing is ended, the next stacking work is started.
In this way, in the second embodiment according to the present invention as well, the electrode stacking apparatus for stacking the sheet-shaped electrode 1 comprises the planar motor device B comprised of the flat plate shaped stator 50 and a plurality of the movers 40 able to move on the flat surface 51 of the stator 50 in any direction along the flat surface 51 and able to rotate about a perpendicular axis of the flat surface 51 in a state magnetically floating from the flat surface 51, the electrode conveyor devices A1 and A2 arranged above the planar motor device B and conveying the sheet-shaped electrode 1 along a conveyance path while holding the sheet-shaped electrode 1, and the control device C for controlling the planar motor device B and the electrode conveyor devices A1 and A2. The stacked electrode holders 60 for holding the stacked sheet-shaped electrode 1 is attached on each mover 40 of the planar motor device B so that the successively stacked sheet-shaped electrode 1 is held by the stacked electrode holders 60 at the sheet-shaped electrode stacking positions on the stacked electrode holders 60. When the stacking the new sheet-shaped electrode 1 held by the electrode conveyor devices A1 and A2 on the stacked electrode holders 60 of the movers 40, the control device C makes the movers 40 move in synchronization with movement of the new sheet-shaped electrode 1 so that the new sheet-shaped electrode 1 continues to face the sheet-shaped electrode stacking positions on the stacked electrode holders 60.
In this case, in this second embodiment, the electrode conveyor device is comprised of the first electrode conveyor device A1 and the second electrode conveyor device A2 arranged separated by a distance from each other at the both sides in the conveyance direction. The both end parts of the new sheet-shaped electrode 1 positioned at the both sides in the conveyance direction are respectively held by the first electrode conveyor device A1 and the second electrode conveyor device A2. Below the first electrode conveyor device A1, a plurality of the first movers 40 of the planar motor device B are arranged aligned in the conveyance direction so as to hold one end part of the sheet-shaped electrode 1 while a plurality of the second movers 40 of the planar motor device B are arranged aligned in the conveyance direction so as to hold the other end part of the sheet-shaped electrode 1. The successively stacked sheet-shaped electrode 1 is held by the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 at the sheet-shaped electrode stacking positions of the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40. When stacking the new sheet-shaped electrode 1 held by the first electrode conveyor device A1 and the second electrode conveyor device A2 on the stacked electrode holders 60 of the first movers 40 and stacked electrode holders 60 of the second movers 40, the control device C makes the first movers 40 and the second movers 40 move in synchronization with the movement of the new sheet-shaped electrode 1 so that the new sheet-shaped electrode 1 continues to face the sheet-shaped electrode stacking positions on the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40.
Further, in this second embodiment, if the stacking work of the new sheet-shaped electrode 1 on the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 ends, the control device C returns the first movers 40 and the second movers 40 to the stacking start positions in the opposite direction from the conveyance direction so as to stack a next new sheet-shaped electrode 1 on the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40. Further, in this second embodiment, support movers 40 provided with support bases for supporting the sheet-shaped electrode 1 held by the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 from below between the first movers 40 and the second movers 40 are provided, The control device C makes the support movers 40 move in synchronization with movement of the sheet-shaped electrode 1 stacked on the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 at the time of stacking.
Further, in this second embodiment, the first electrode conveyor device A1 and the second electrode conveyor device A2 are comprised of linear motors having pluralities of movers 12 made to move along the conveyance paths. Each mover 12 of the linear motors are provided with clamps 19 for holding the new sheet-shaped electrode 1, while the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 of the planar motor device B are provided with clamps 64. When the first movers 40 and the second movers 40 of the planar motor device B are made to move in synchronization with movement of the new sheet-shaped electrode, the holding actions of the sheet-shaped electrode 1 by the clamps 19 of the movers 12 of the linear motor are released in order from the movers 12 of the linear motors positioned in the front in the conveyance direction and the holding actions of the sheet-shaped electrode 1 by the clamps 64 of the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 corresponding to the movers 12 of the linear motors are initiated, thereby the new sheet-shaped electrode 1 is stacked on the stacked electrode holders 60 of the first movers 40 and on the stacked electrode holders 60 of the second movers 40.
Furthermore, in the second embodiment, the first electrode conveyor device A1 and the second electrode conveyor device A2 are provided with clamps 19 for holding the sheet-shaped electrode 1 and the stacked electrode holders 60 of the first movers 40 and the second movers 40 are provided with clamps 64 for holding the sheet-shaped electrode 1. The holding actions of the sheet-shaped electrode 1 by these clamps 19 and 64 are initiated by cams and released by cams. The control device C makes the cam movers 40 provided with the cams 92 which engage with these clamps 19 and 64 move in an opposite direction to the conveyance direction when stacking work of the new sheet-shaped electrode 1 on the stacked electrode holders 60 of the first movers 40 and the stacked electrode holders 60 of the second movers 40 is performed. Further, in the second embodiment, the clamps 19 which the movers 12 of the linear motors are provided with cause tension at the new sheet-shaped electrode 1 when holding the new sheet-shaped electrode 1 so as to keep the new sheet-shaped electrode 1 from sagging down.
Further, in this second embodiment, as the holding position of the new sheet-shaped electrode 1 by the first electrode conveyor device A1 and the second electrode conveyor device A2, the regular holding position R required for making the new sheet-shaped electrode 1 align with the sheet-shaped electrode stacking position on the stacked electrode holders 60 is set in advance. A deviation detection device is provided for detecting the amounts of deviation of the holding position of the new sheet-shaped electrode 1 with respect to the regular holding position R. The control device C controls the movement positions and rotational angle positions of the first movers 40 and the second movers 40 based on the amounts of deviation so that the new sheet-shaped electrode 1 is stacked on the stacked electrode holders 60 aligned with the sheet-shaped electrode stacking position on the stacked electrode holders 60. In this case, the deviation detection device is provided with a camera 33 for capturing the new sheet-shaped electrode 1 held by the electrode conveyor devices A1 and A2, and the amounts of deviation are detected by images captured by the camera 33.
Further, in this second embodiment, the stacked electrode holders 60 of the first movers 40 and the second movers 40 are provided with the clamps 64, and the sheet-shaped electrode 1 is held by the clamps 64 of the stacked electrode holders 60 of the first movers 40 and the clamps 64 of the stacked electrode holders 60 of the second movers 40. The control device C controls the movement positions of the first movers 40 and the second movers 40 to positions required for keeping the sheet-shaped electrode 1 from sagging down. In this case, the clamping force of the first mover 40 positioned at the front end part in the conveyance direction among the first movers 40 is made the maximum, the clamping forces of the remaining first movers 40 are made lower than the maximum clamping force, and the clamping forces of the second movers 40 are made further lower.
Claims
1. An electrode stacking apparatus for stacking a sheet-shaped electrode, comprising:
- a planar motor device comprised of a flat plate shaped stator and a plurality of movers able to move on a flat surface of the stator in any direction along the flat surface and able to rotate about a perpendicular axis of the flat surface in a state magnetically floating from the flat surface,
- an electrode conveyor device arranged above the planar motor device and conveying the sheet-shaped electrode along a conveyance path while holding the sheet-shaped electrode, and
- a control device for controlling the planar motor device and the electrode conveyor device, wherein
- a stacked electrode holder for holding stacked sheet-shaped electrodes being attached on each mover of the planar motor device and a successively stacked sheet-shaped electrode being held at a sheet-shaped electrode stacking position on the stacked electrode holder by the stacked electrode holder,
- when stacking a new sheet-shaped electrode held by the electrode conveyor device on the stacked electrode holder of the mover, said control device making the mover move in synchronization with movement of the new sheet-shaped electrode so that the new sheet-shaped electrode continues to face the sheet-shaped electrode stacking position on the stacked electrode holder.
2. The electrode stacking apparatus according to claim 1, wherein as a holding position of the new sheet-shaped electrode by the electrode conveyor device, a regular holding position required for making the new sheet-shaped electrode align with the sheet-shaped electrode stacking position on the stacked electrode holder is set in advance, a deviation detection device is provided for detecting an amount of deviation of the holding position of the new sheet-shaped electrode from the regular holding position, and said control device controls a movement position and rotational angle position of each mover based on the amount of deviation so that the new sheet-shaped electrode is stacked on the stacked electrode holder aligned with the sheet-shaped electrode stacking position on the stacked electrode holder.
3. The electrode stacking apparatus according to claim 2, wherein the deviation detection device is provided with a camera for capturing the new sheet-shaped electrode held by the electrode conveyor device, and the amount of deviation is detected based on images captured by the camera.
4. The electrode stacking apparatus according to claim 1, wherein the electrode conveyor device is comprised of a linear motor having a plurality of movers made to move along the conveyance path, and the new sheet-shaped electrode is held by clamps on a conveyor plate attached to the mover of the linear motor.
5. The electrode stacking apparatus according to claim 4, wherein the stacked electrode holders of the movers of the planar motor device are provided with clamps, when the movers of the planar motor device are made to move in synchronization with movement of the new sheet-shaped electrode, the new sheet-shaped electrode held on the conveyor plate being stacked on the stacked electrode holder while being held at a peripheral part of the new sheet-shaped electrode by either clamps of the clamps of the conveyor plate and the clamps of the stacked electrode holders.
6. The electrode stacking apparatus according to claim 1, wherein the sheet-shaped electrode is held by a plurality of the movers of the planar motor device.
7. The electrode stacking apparatus according to claim 1, wherein said control device controls a movement position and rotational angle position of the mover of the planar motor device holding the sheet-shaped electrode so that the mover does not rotate when making the mover move along a curved running path.
8. The electrode stacking apparatus according to claim 1, wherein the electrode conveyor device is comprised of a first electrode conveyor device and a second electrode conveyor device arranged separated by a distance from each other at both sides in a conveyance direction, both end parts of the new sheet-shaped electrode positioned at the both sides in the conveyance direction are respectively held by the first electrode conveyor device and the second electrode conveyor device, a plurality of first movers of the planar motor device are arranged aligned in the conveyance direction below the first electrode conveyor device so as to each hold one end part of the new sheet-shaped electrode, a plurality of second movers of the planar motor device are arranged aligned in the conveyance direction below the second electrode conveyor device so as to each hold the other end part of the new sheet-shaped electrode, successively stacked sheet-shaped electrodes are held at the sheet-shaped electrode stacking positions on the stacked electrode holders of the first movers and on the stacked electrode holders of the second movers by the stacked electrode holders of the first movers and the stacked electrode holders of the second movers, and said control device makes the first movers and the second movers move in synchronization with movement of the new sheet-shaped electrode so that, when stacking the new sheet-shaped electrode held by the first electrode conveyor device and the second electrode conveyor device on the stacked electrode holder of the first mover and on the stacked electrode holder of the second mover, the new sheet-shaped electrode continues to face the sheet-shaped electrode stacking positions on the stacked electrode holder of the first mover and on the stacked electrode holder of the second mover.
9. The electrode stacking apparatus according to claim 8, wherein when stacking work of the new sheet-shaped electrode on the stacked electrode holder of the first mover and the stacked electrode holder of the second mover ends, said control device returns the first mover and the second mover to stacking start positions in a direction opposite to the conveyance direction so as to stack a next new sheet-shaped electrode on the stacked electrode holder of the first mover and the stacked electrode holder of the second mover.
10. The electrode stacking apparatus according to claim 8, wherein a support mover provided with a support base for supporting the sheet-shaped electrode held by the stacked electrode holder of the first mover and the stacked electrode holder of the second mover from below between the first mover and the second mover is provided, and said control device makes the support mover move in synchronization with movement of the sheet-shaped electrode stacked on the stacked electrode holder of the first mover and the stacked electrode holder of the second mover at the time of stacking.
11. The electrode stacking apparatus according to claim 8, wherein the first electrode conveyor device and the second electrode conveyor device are comprised of linear motor having pluralities of movers made to move along conveyance paths, each mover of the linear motor is provided with clamps for holding the new sheet-shaped electrode, the stacked electrode holders of the first movers and the stacked electrode holders of the second movers of the planar motor device are provided with clamps, and, when the first movers and the second movers of the planar motor device are made to move in synchronization with movement of the new sheet-shaped electrode, holding actions of the sheet-shaped electrode by the clamps of the movers of the linear motor are released in order from the movers of the linear motor positioned at a front in the conveyance direction and holding actions of the sheet-shaped electrode by the clamps of the stacked electrode holders of the first movers and the stacked electrode holders of the second movers corresponding to the movers of the linear motor are initiated, whereby the new sheet-shaped electrode is stacked on the stacked electrode holder of the first mover and the stacked electrode holder of the second mover.
12. The electrode stacking apparatus according to claim 8, wherein the first electrode conveyor device and the second electrode conveyor device are provided with clamps for holding the sheet-shaped electrode, the stacked electrode holders of the first movers and the second movers are provided with clamps for holding the sheet-shaped electrode, the holding actions of the sheet-shaped electrode by these clamps are initiated by cams and released by cams, and, said control device makes cam movers provided with the cams which engage with these clamps move in a direction opposite to the conveyance direction when stacking work of the new sheet-shaped electrode on the stacked electrode holder of the first mover and the stacked electrode holder of the second mover is performed,
13. The electrode stacking apparatus according to claim 8, wherein the clamps which the movers of the linear motor are provided with cause tension at the new sheet-shaped electrode when holding the new sheet-shaped electrode so as to keep the new sheet-shaped electrode from sagging down.
14. The electrode stacking apparatus according to claim 8, wherein as a holding position of the new sheet-shaped electrode by the first electrode conveyor device and the second electrode conveyor device, a regular holding position required for making the new sheet-shaped electrode align with the sheet-shaped electrode stacking position on the stacked electrode holders is set in advance, a deviation detection device is provided for detecting amounts of deviation of the holding position of the new sheet-shaped electrode from the regular holding position, and said control device controls the movement positions and the rotational angle positions of the first mover and the second mover based on the amounts of deviation so that the new sheet-shaped electrode is stacked on the stacked electrode holders aligned with the sheet-shaped electrode stacking position on the stacked electrode holders.
15. The electrode stacking apparatus according to claim 14, wherein the deviation detection device is provided with a camera for capturing the new sheet-shaped electrode held by the electrode conveyor devices, and the amounts of deviation are detected based on images captured by the camera.
16. The electrode stacking apparatus according to claim 8, wherein the stacked electrode holders of the first movers and the second movers are provided with clamps, the sheet-shaped electrode is held by the clamps of the stacked electrode holders of the first movers and the clamps of the stacked electrode holders of the second movers, and said control device controls the movement positions of the first movers and the second movers to positions required for keeping the sheet-shaped electrode from sagging down.
17. The electrode stacking apparatus according to claim 16, wherein clamping force of the first mover positioned at a front end part in the conveyance direction among the first movers is made the maximum, the clamping forces of the remaining first movers are made lower compared with the maximum clamping force, and the clamping forces of the second movers are made further lower.
Type: Application
Filed: May 4, 2022
Publication Date: Nov 17, 2022
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA (Toyota-shi)
Inventor: Nobuhira ABE (Toyota-shi)
Application Number: 17/736,598